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<div class="title">ndt_2d.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_NDT_2D_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_NDT_2D_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/registration.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target&gt;</div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform2_d.html">   60</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_normal_distributions_transform2_d.html">NormalDistributionsTransform2D</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_registration.html">Registration</a>&lt;PointSource, PointTarget&gt;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Registration&lt;PointSource, PointTarget&gt;::PointCloudSource</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::Ptr PointCloudSourcePtr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::ConstPtr PointCloudSourceConstPtr;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Registration&lt;PointSource, PointTarget&gt;::PointCloudTarget</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">typedef</span> PointIndices::Ptr PointIndicesPtr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">typedef</span> PointIndices::ConstPtr PointIndicesConstPtr;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt; NormalDistributionsTransform2D&lt;PointSource, PointTarget&gt; &gt; Ptr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt; const NormalDistributionsTransform2D&lt;PointSource, PointTarget&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform2_d.html#aa13a118d006057618fc630ee97ddf3a3">   77</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform2_d.html#aa13a118d006057618fc630ee97ddf3a3">NormalDistributionsTransform2D</a> ()</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        : <a class="code" href="classpcl_1_1_registration.html">Registration</a>&lt;PointSource,PointTarget&gt; (),</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          grid_centre_ (0,0), grid_step_ (1,1), grid_extent_ (20,20), newton_lambda_ (1,1,1)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">reg_name_</a> = <span class="stringliteral">&quot;NormalDistributionsTransform2D&quot;</span>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      }</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform2_d.html#a3befcf3e13b986adbbdddab3d6790b82">   85</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_normal_distributions_transform2_d.html#a3befcf3e13b986adbbdddab3d6790b82">~NormalDistributionsTransform2D</a> () {}</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform2_d.html#a4b7bc864b65f9a8e93eb42ee81121ed0">   91</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform2_d.html#a4b7bc864b65f9a8e93eb42ee81121ed0">setGridCentre</a> (<span class="keyword">const</span> Eigen::Vector2f&amp; centre) { grid_centre_ = centre; }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform2_d.html#a37b124ea385c69fa1add91982e8f4089">   97</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform2_d.html#a37b124ea385c69fa1add91982e8f4089">setGridStep</a> (<span class="keyword">const</span> Eigen::Vector2f&amp; step) { grid_step_ = step; }</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform2_d.html#a40cb51831ca8df1ea9a38a345386af8b">  103</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform2_d.html#a40cb51831ca8df1ea9a38a345386af8b">setGridExtent</a> (<span class="keyword">const</span> Eigen::Vector2f&amp; extent) { grid_extent_ = extent; }</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;       <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform2_d.html#a0c79a1e1ad8b921fa65deae409a0665d">  109</a></span>&#160;       <a class="code" href="classpcl_1_1_normal_distributions_transform2_d.html#a0c79a1e1ad8b921fa65deae409a0665d">setOptimizationStepSize</a> (<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; lambda) { newton_lambda_ = Eigen::Vector3d (lambda, lambda, lambda); }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;       <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_distributions_transform2_d.html#a356ca3f15c6543b42970dc38f4f014a3">  122</a></span>&#160;       <a class="code" href="classpcl_1_1_normal_distributions_transform2_d.html#a356ca3f15c6543b42970dc38f4f014a3">setOptimizationStepSize</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; lambda) { newton_lambda_ = lambda; }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <a class="code" href="classpcl_1_1_normal_distributions_transform2_d.html#abf99a15fe6808f4242da02091ec4b736">computeTransformation</a> (PointCloudSource &amp;output, <span class="keyword">const</span> Eigen::Matrix4f &amp;guess);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::reg_name_</a>;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::target_</a>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::converged_</a>;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::nr_iterations_</a>;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::max_iterations_</a>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::transformation_epsilon_</a>;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::transformation_</a>;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::previous_transformation_</a>;      </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::final_transformation_</a>;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::update_visualizer_</a>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::indices_</a>;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      Eigen::Vector2f grid_centre_;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      Eigen::Vector2f grid_step_;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      Eigen::Vector2f grid_extent_;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      Eigen::Vector3d newton_lambda_;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  };</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;} <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/ndt_2d.hpp&gt;</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// ndef PCL_NDT_2D_H_</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform2_d_html"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform2_d.html">pcl::NormalDistributionsTransform2D</a></div><div class="ttdoc">NormalDistributionsTransform2D provides an implementation of the Normal Distributions Transform algor...</div><div class="ttdef"><b>Definition:</b> ndt_2d.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform2_d_html_a0c79a1e1ad8b921fa65deae409a0665d"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform2_d.html#a0c79a1e1ad8b921fa65deae409a0665d">pcl::NormalDistributionsTransform2D::setOptimizationStepSize</a></div><div class="ttdeci">virtual void setOptimizationStepSize(const double &amp;lambda)</div><div class="ttdoc">NDT Newton optimisation step size parameter</div><div class="ttdef"><b>Definition:</b> ndt_2d.h:109</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform2_d_html_a356ca3f15c6543b42970dc38f4f014a3"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform2_d.html#a356ca3f15c6543b42970dc38f4f014a3">pcl::NormalDistributionsTransform2D::setOptimizationStepSize</a></div><div class="ttdeci">virtual void setOptimizationStepSize(const Eigen::Vector3d &amp;lambda)</div><div class="ttdoc">NDT Newton optimisation step size parameter</div><div class="ttdef"><b>Definition:</b> ndt_2d.h:122</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform2_d_html_a37b124ea385c69fa1add91982e8f4089"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform2_d.html#a37b124ea385c69fa1add91982e8f4089">pcl::NormalDistributionsTransform2D::setGridStep</a></div><div class="ttdeci">virtual void setGridStep(const Eigen::Vector2f &amp;step)</div><div class="ttdoc">Grid spacing (step) of the NDT grid</div><div class="ttdef"><b>Definition:</b> ndt_2d.h:97</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform2_d_html_a3befcf3e13b986adbbdddab3d6790b82"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform2_d.html#a3befcf3e13b986adbbdddab3d6790b82">pcl::NormalDistributionsTransform2D::~NormalDistributionsTransform2D</a></div><div class="ttdeci">virtual ~NormalDistributionsTransform2D()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> ndt_2d.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform2_d_html_a40cb51831ca8df1ea9a38a345386af8b"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform2_d.html#a40cb51831ca8df1ea9a38a345386af8b">pcl::NormalDistributionsTransform2D::setGridExtent</a></div><div class="ttdeci">virtual void setGridExtent(const Eigen::Vector2f &amp;extent)</div><div class="ttdoc">NDT Grid extent (in either direction from the grid centre)</div><div class="ttdef"><b>Definition:</b> ndt_2d.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform2_d_html_a4b7bc864b65f9a8e93eb42ee81121ed0"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform2_d.html#a4b7bc864b65f9a8e93eb42ee81121ed0">pcl::NormalDistributionsTransform2D::setGridCentre</a></div><div class="ttdeci">virtual void setGridCentre(const Eigen::Vector2f &amp;centre)</div><div class="ttdoc">centre of the ndt grid (target coordinate system)</div><div class="ttdef"><b>Definition:</b> ndt_2d.h:91</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform2_d_html_aa13a118d006057618fc630ee97ddf3a3"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform2_d.html#aa13a118d006057618fc630ee97ddf3a3">pcl::NormalDistributionsTransform2D::NormalDistributionsTransform2D</a></div><div class="ttdeci">NormalDistributionsTransform2D()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> ndt_2d.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_distributions_transform2_d_html_abf99a15fe6808f4242da02091ec4b736"><div class="ttname"><a href="classpcl_1_1_normal_distributions_transform2_d.html#abf99a15fe6808f4242da02091ec4b736">pcl::NormalDistributionsTransform2D::computeTransformation</a></div><div class="ttdeci">virtual void computeTransformation(PointCloudSource &amp;output, const Eigen::Matrix4f &amp;guess)</div><div class="ttdoc">Rigid transformation computation method with initial guess.</div><div class="ttdef"><b>Definition:</b> ndt_2d.hpp:377</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html"><div class="ttname"><a href="classpcl_1_1_registration.html">pcl::Registration</a></div><div class="ttdoc">Registration represents the base registration class for general purpose, ICP-like methods.</div><div class="ttdef"><b>Definition:</b> registration.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a1e493af70763e05bcaf5ecd0ed7be63d"><div class="ttname"><a href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">pcl::Registration::reg_name_</a></div><div class="ttdeci">std::string reg_name_</div><div class="ttdoc">The registration method name.</div><div class="ttdef"><b>Definition:</b> registration.h:482</div></div>
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